Material or article handling – Vertically swinging load support – Grab
Patent
1985-03-14
1987-08-04
Paperner, L. J.
Material or article handling
Vertically swinging load support
Grab
74606R, 901 26, 901 28, 901 29, B25J 1702
Patent
active
046843132
DESCRIPTION:
BRIEF SUMMARY
FIELD OF ART
The present invention relates to improvements in industrial robots and more particularly to a device for driving a wrist of an industrial robot.
BACKGROUND ART
Heretofore, as this type of device there has been such device as shown in FIGS. 1 to 3. In the figures, the numeral 1 is a first servomotor; 2 is a second servomotor; 3 is a third servomotor; 4 is a pulley which is fixed to an output shaft of the first servomotor 1; 5 is a belt for transmitting the rotation of the pulley 4 to a pulley 6; 7 is a box member; 8 is a pulley fixed to an output shaft of the second servomotor 2; 9 is a belt for transmitting the rotation of the pulley 8 to a pulley 10; 62 is a box member; 11 is a pulley fixed to an output shaft of the third servomotor 3; 12 is a belt for transmitting the rotation of the pulley 11 to a pulley 13; 63 is a box member; 14 and 16 are bevel gears which are fixed to the pulleys 6 and 10, respectively; 15 and 17 are bevel gears which are in mesh with the gears 14 and 16, respectively; 18, 19 and 20, 21 are bearings which support the pulley 6, bevel gear 14 and pulley 10, bevel gear 16, respectively; 26, 27 and 28 are drive shafts for transmission of the rotations of the bevel gear 15, bevel gear 17 and pulley 13, respectively; 22, 23 and 33 are bearings which support the drive shaft 28; 24, 32 and 25, 34 are bearings which support the drive shafts 26 and 27, respectively; 31 is a second link which encloses the drive shafts 26-28, etc.; 29 and 30 are bearings which support the second link 31; 64 is a first link which supports the second link 31 at one end thereof; 65 is a first box member fixed to a below-described internal gear 37; 35 is a bearing which supports the first box member 65 rotatably; 36 is a spur gear fixed to the drive shaft 26; 37 is an internal gear which is in mesh with the spur gear 36; 38 is a spur gear fixed to the drive shaft 27; 39 is a cylindrical spur gear which is in mesh with the spur gear 38; 40 is a bevel gear fixed to the spur gear 39; 41 and 42 are bearings which support the spur gear 39 and bevel gear 40; 43 is a bevel gear which is in mesh with the bevel gear 40; 48 is a pulley fixed to a boss portion of the bevel gear 43; 44 and 45 are bearings which support the bevel gear 43 and pulley 48; 46 is a bevel gear fixed to the drive shaft 28; 47 is a bevel gear which is in mesh with the bevel gear 46; 49 is a belt for transmitting the rotation of the pulley 48 to a pulley 50; 51 is a pulley fixed to a boss portion of the bevel gear 47; 52 is a belt for transmitting the rotation of the pulley 51 to a pulley 53; 66 is a second box member fixed to a boss portion of the pulley 50; 56 and 57 are bearings which support the pulley 50 and second box member 66 rotatably; 58 is a bevel gear fixed to the pulley 53; 59 is a bevel gear which is in mesh with the bevel gear 58, 59a is an output shaft constituting an output member which is fixed to the bevel gear 59; 60 and 61 are bearings which support the bevel gear 59 and output shaft 59a rotatably; 54 and 55 are bearings which support the pulley 53 and bevel gear 58; and 67 is a bearing which supports the box member 66. The spur gear 36, internal gear 37, first box member 65, etc. constitute a first device; the spur gears 38, 39, bevel gears 40, 43, pulleys 48, 50, second box member 66, etc. constitute a second device; the bevel gears 46, 47, pulleys 51, 53, bevel gears 58, 59, output shaft 59a, etc. constitute a third device.
The axis of rotation of the first box member 65 of the first device and that of the second box member 66 of the second device are orthogonal to each other, and the axis of rotation of the second box member 66 and that of the output shaft 59a of the third device are orthogonal to each other. The numeral 68 is a fourth servomotor with a reduction unit for driving the second link 31 through an eighth link 70 and a fourth link 71; 69 is a fifth servomotor with a reduction unit for driving the first link 64 on the side opposite to the fourth servomotor 68; and 72 is a pedestal which supports the fi
REFERENCES:
patent: 2756614 (1956-07-01), Kobayashi
patent: 3196713 (1965-07-01), Robinson
patent: 3739923 (1973-06-01), Totsuka
patent: 3826383 (1974-07-01), Richter
patent: 3922930 (1975-12-01), Fletcher et al.
patent: 4020715 (1977-05-01), Sollars
patent: 4112786 (1978-09-01), Thomas
patent: 4507046 (1985-03-01), Sugimoto et al.
Minematsu Yoshihiko
Sakamoto Ken-ichiro
Tanaka Minoru
Yamamoto Masayuki
Mitsubishi Denki & Kabushiki Kaisha
Paperner L. J.
Underwood Donald W.
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